Device for controlling an apparatus

Abstract

The invention relates to a device for controlling an apparatus, for example an aircraft, an aircraft simulator, a robot or the like. Said device comprises a handle which can be rotated about two axes (A, B) that are perpendicular to one another. The handle pivots about a fulcrum (P) which substantially corresponds to a point of intersection (S) of the axes (A, B).

What is claimed is:  
     
       1. A hand controller comprising: 
       a housing;  
       a first guide element mounted at least in part on bearing means in the housing for rotation about an axis A;  
       a holding arm external of the housing and integral with the first guide element, the holding arm comprises a holding plate secured to the first guide element and a locating plate extending from the holding plate in a direction away from the first guide element and eccentric to and parallel to the axis A;  
       a second guide element mounted for rotation on the locating plate about an axis B which is perpendicular to an intersects with axis A at a point P; and  
       a handle mounted on the second guide element for pivotable movement about point P.  
     
     
       2. A hand controller comprising: 
       a first guide element mounted for rotation about axis A;  
       a holding arm integral with the first guide element;  
       a second guide element mounted on the holding arm for rotation about an axis B which is perpendicular to and intersects with axis A at a point P;  
       a first drive means for driving the first guide element and a second drive means for driving the second guide element; and  
       a handle mounted on the second guide element for pivotable movement about point P.  
     
     
       3. A hand controller comprising: 
       a first guide element mounted for rotation about axis A;  
       a holding arm integral with the first guide element;  
       a second guide element mounted on the holding arm for rotation about an axis B which is perpendicular to and intersects with axis A at a point P;  
       a first drive means for driving the first guide element and a second drive means for driving the second guide element; and  
       a handle mounted on the second guide element for pivotable movement about point P; and  
       at least one force sensor associated with the handle for controlling and/or regulating the rotational movement of the first and second guide elements.  
     
     
       4. The controller as claimed in  claim 2  or  3 , wherein the first and second drive means each comprise a drive motor and a gear unit. 
     
     
       5. The controller as claimed in  claim 4 , wherein the drive motors, the gear units and the at least one force sensor are connected to a control. 
     
     
       6. The controller as claimed in  claim 2  or  3 , wherein the second guide element is mounted perpendicularly to the first guide element on the holding arm by bearing elements. 
     
     
       7. The controller as claimed in  claim 6 , wherein the second guide element is mounted on one side on the holding arm eccentrically to the axis (A) in such a way as to be rotatable about the axis (B). 
     
     
       8. The controller as claimed in  claim 2  or  3 , wherein the first guide element is mounted in a housing so as to be rotatable about the axis (A). 
     
     
       9. The controller as claimed in any one of claims  1 - 3 , wherein the holding arm is mounted on both sides about the axis (A). 
     
     
       10. The controller as claimed in any one of claims  1 - 3 , wherein the holding arm is of U-shaped design wherein the second guide element is mounted in the holding arm eccentrically to the axis (A) so as to be rotatable about the axis (B).